Fluidic actuator

Abstract

A fluidic actuator comprises a chamber. The chamber is provided using a mass manufacturing technique. The chamber is formed from a material that has a higher strength in at least two axes relative to at most one other axis. The chamber allows a volume change by localized bending of a chamber wall.

What is claimed is: 
     
       1. A fluidic actuator, the fluidic actuator consisting of a single layer of elongated chambers, the single layer of elongated chambers consisting essentially of:
 an elongated first chamber that includes:
 a first cavity defined by the first chamber; 
 a first chamber first-end and second-end having a first length extending therebetween from the first chamber first-end to the first chamber second end, and 
 a first port disposed at the first chamber second-end configured for fluid to enter and exit the first cavity of the first chamber, and only the first cavity of the first chamber without additional ports for fluid to enter and exit the first cavity, 
 wherein the elongated first chamber is configured to expand along the first length, which extends from the first chamber first-end to the first chamber second end, in response to increasing fluid pressure within the 
 first chamber introduced via a first fluid input; 
 
 an elongated second chamber that includes:
 a second cavity defined by the second chamber; 
 a second chamber first-end and second-end having a second length extending therebetween from the second chamber first-end to the second chamber second end, and 
 a second port disposed at the second chamber second-end configured for fluid to enter and exit the second cavity of the second chamber, and only the second cavity of the second chamber without additional ports for fluid to enter and exit the second cavity, 
 wherein the elongated second chamber is configured to expand along the second length, which extends from the second chamber first end to the second chamber second end, in response to increasing fluid pressure within the second chamber introduced via a second fluid input that is separate from the first fluid input, and 
 wherein the first chamber and second chamber are disposed in a spaced-apart parallel configuration; and 
 wherein all chambers of the fluidic actuator are associated with a separate fluid input such that each of the chambers are independently inflatable via separate fluid inputs; 
 
 a linkage coupled to the first chamber first-end and the second chamber first-end and coupling the first and second chamber; and 
 a base, wherein the first chamber second-end and the second chamber second-end are coupled to the base; a pivot and an end effector directly connected to the linkage; wherein when a volume of the first chamber and the second chamber change in opposite direction, the pivot rotates and the end effector tilts; wherein when a pressure in the first and second chambers change in the same direction while maintaining constant pressure ratio, a stiffness of the actuator increases. 
 
     
     
       2. The fluidic actuator of  claim 1 , wherein the first and second chamber define a fluid impermeable layer and mechanically structural layer. 
     
     
       3. The fluidic actuator of  claim 2 , wherein a single material layer comprises both a fluid impermeable layer and a mechanically structural layer. 
     
     
       4. The fluidic actuator of  claim 2 , wherein the fluid impermeable layer comprises an inner material layer and the mechanically structural layer comprises an outer material layer. 
     
     
       5. The fluidic actuator of  claim 1 , wherein the chamber is comprised of a plastic. 
     
     
       6. The fluidic actuator of  claim 5 , wherein the first and second chamber comprise aligned molecular polymer chains, and wherein the first and second chamber are produced by blow molding a plastic and wherein blow molding the plastic aligns molecular polymer chains of the plastic to define the aligned molecular polymer chains. 
     
     
       7. The fluidic actuator of  claim 5 , wherein the plastic comprises PET. 
     
     
       8. The fluidic actuator of  claim 5 , wherein the first and second chamber further comprise a plurality of fibers integrally disposed within the plastic. 
     
     
       9. The fluidic actuator of  claim 1 , further comprising a stem coupled to and extending between the linkage and the base, the stem being disposed between the first and second chamber. 
     
     
       10. The fluidic actuator of  claim 9 , wherein the stem is capable of bending but not extending or contracting. 
     
     
       11. The fluidic actuator of  claim 1 , wherein the first and second cavity are defined by a plurality of layers, with each layer being defined by a different material. 
     
     
       12. The fluidic actuator of  claim 1 , wherein the first and second chamber comprise a fluid impermeable bladder. 
     
     
       13. The fluidic actuator of  claim 1 , wherein the first and second chamber comprise a respective bellows. 
     
     
       14. The fluidic actuator of  claim 13 , wherein the respective bellows comprises convolutions. 
     
     
       15. The fluidic actuator of  claim 14 , wherein the convolutions bend to create deflection. 
     
     
       16. The fluidic actuator of  claim 15 , wherein the deflection allows the volume change. 
     
     
       17. The fluidic actuator of  claim 14 , wherein the convolutions comprise one or more of the following: longitudinal convolutions, radial convolutions, secondary convolutions, uniform convolutions, non-uniform convolutions, discontinuous convolutions, and asymmetric convolutions. 
     
     
       18. The fluidic actuator of  claim 1 , wherein in the event fluid is added to or removed from the chamber, one or more convolutions of the chamber deflect. 
     
     
       19. The fluidic actuator of  claim 1 , wherein the first and second chamber are formed out of a single continuous piece of material. 
     
     
       20. The fluidic actuator of  claim 1 , wherein the fluidic actuator comprises one or more of the following: a one degree of freedom actuator, a two degree of freedom actuator, and a three degree of freedom actuator. 
     
     
       21. The fluidic actuator of  claim 1 , wherein the fluidic actuator comprises a variable stiffness actuator. 
     
     
       22. The fluidic actuator of  claim 1 , wherein the first and second chamber are fluidly independent. 
     
     
       23. The fluidic actuator of  claim 1 , wherein the first and second chambers are configured antagonistically such that pressurized fluid within the respective cavities can create opposing force and push the chambers against one another in different directions. 
     
     
       24. The fluidic actuator of  claim 1 ,
 wherein the first chamber first end and second chamber first end are disposed in a separate and spaced-apart configuration; and 
 wherein the first chamber second end and second chamber second end are disposed in a separate and spaced-apart configuration. 
 
     
     
       25. The fluidic actuator of  claim 1 , wherein the travel of the first and second chambers as they expand or contract is dictated by a mechanical restraint attached to the first and second chamber. 
     
     
       26. A fluidic actuator, the fluidic actuator consisting of a single assembly layer, the single assembly layer consisting essentially of:
 a single layer of elongated chambers consisting essentially of:
 an elongated first chamber that includes:
 a first cavity defined by the first chamber; 
 a first chamber first-end and second-end having a first length extending therebetween from the first chamber first-end to the first chamber second end, and 
 a first port disposed at the first chamber second-end configured for fluid to enter and exit the first cavity of the first chamber, and only the first cavity of the first chamber without additional ports for fluid to enter and exit the first cavity, 
 wherein the elongated first chamber is configured to expand along the first length, which extends from the first chamber first-end to the first chamber second end, in response to increasing fluid pressure within the first chamber introduced via a first fluid input; 
 
 an elongated second chamber that includes:
 a second cavity defined by the second chamber; 
 a second chamber first-end and second-end having a second length extending therebetween from the second chamber first-end to the second chamber second end, and 
 a second port disposed at the second chamber second-end configured for fluid to enter and exit the second cavity of the second chamber, and only the second cavity of the second chamber without additional ports for fluid to enter and exit the second cavity, 
 wherein the elongated second chamber is configured to expand along the second length, which extends from the second chamber first end to the second chamber second end, in response to increasing fluid pressure within the second chamber introduced via a second fluid input that is separate from the first fluid input, and 
 wherein the first chamber and second chamber are disposed in a spaced-apart parallel configuration; and 
 wherein all chambers of the fluidic actuator are associated with a separate fluid input such that each of the chambers are independently inflatable via separate fluid inputs; 
 
 
 a linkage coupled to the first chamber first-end and the second chamber first-end and coupling the first and second chamber; and 
 a base, wherein the first chamber second-end and the second chamber second-end are coupled to the base; a pivot and an end effector directly connected to the linkage; wherein when a volume of the first chamber and the second chamber change in opposite direction, the pivot rotates and the end effector tilts; wherein when a pressure in the first and second chambers change in the same direction while maintaining constant pressure ratio, a stiffness of the actuator increases. 
 
     
     
       27. A fluidic actuator, the fluidic actuator consisting of a single layer of elongated chambers, the single layer of elongated chambers comprising:
 an elongated first chamber that includes:
 a first cavity defined by the first chamber; 
 a first chamber first-end and second-end having a first length extending therebetween from the first chamber first-end to the first chamber second end, and 
 a first port disposed at the first chamber second-end configured for fluid to enter and exit the first cavity of the first chamber, and only the first cavity of the first chamber without additional ports for fluid to enter and exit the first cavity, 
 wherein the elongated first chamber is configured to expand along the first length, which extends from the first chamber first-end to the first chamber second end, in response to increasing fluid pressure within the 
 first chamber introduced via a first fluid input; 
 
 an elongated second chamber that includes:
 a second cavity defined by the second chamber; 
 a second chamber first-end and second-end having a second length extending therebetween from the second chamber first-end to the second chamber second end, and 
 a second port disposed at the second chamber second-end configured for fluid to enter and exit the second cavity of the second chamber, and only the second cavity of the second chamber without additional ports for fluid to enter and exit the second cavity, 
 wherein the elongated second chamber is configured to expand along the second length, which extends from the second chamber first end to the second chamber second end, in response to increasing fluid pressure within the second chamber introduced via a second fluid input that is separate from the first fluid input, and 
 wherein the first chamber and second chamber are disposed in a spaced-apart parallel configuration; and 
 wherein all chambers of the fluidic actuator are associated with a separate fluid input such that each of the chambers are independently inflatable via separate fluid inputs; 
 
 a linkage coupled to the first chamber first-end and the second chamber first-end and coupling the first and second chamber; and 
 a base, wherein the first chamber second-end and the second chamber second-end are coupled to the base; a pivot and an end effector directly connected to the linkage; wherein when a volume of the first chamber and the second chamber change in opposite direction, the pivot rotates and the end effector tilts; wherein when a pressure in the first and second chambers change in the same direction while maintaining constant pressure ratio, a stiffness of the actuator increases.